The Vehicle Directional Control Based on Fractional Order PD~μ Controller

A novel controller,fractional order PD~μ controller,was proposed to improve the control performances of the driver-vehicle system.The fractional calculus and the fractional order PI~λD~μ controller were introduced.And a control algorithm of vehicle directional control with fractional order PD~μ controller was presented.Based on the preview-follower theory,the on-line tuning method of fractional order PD~μ controller was designed.By comparison of the simulated and experimental results,the validity and reliability of the fractional order PD~μ controller in the closed loop system was verified.Finally,the comprehensive evaluations were performed between the proposed system and system with integer PD controller.The results demonstrate that the use of the fractional order controller leads to the improvement of the performances of the driver-vehicle system.